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A design of saturating control with a guaranteed cost and its application to the crane control system

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2 Author(s)
Yoshida, K. ; Dept. of Mech. Eng., Hiroshima Inst. of Technol., Japan ; Kawabe, H.

A saturating control law which satisfies a constrained input condition and gives an upper bound of a given quadratic performance index is proposed, using a unique guaranteed cost control method. The case where modeling errors exist in the mathematical model is also considered. An experimental examination in a crane system has shown the practicability of the control law proposed here

Published in:

Automatic Control, IEEE Transactions on  (Volume:37 ,  Issue: 1 )